Controller and control method

Abstract

The present invention obtains a controller and a control method capable of achieving appropriate cornering during adaptive cruise control of a straddle-type vehicle. In the controller and the control method according to the present invention, during the adaptive cruise control in which the straddle-type vehicle is made to travel according to a distance from the straddle-type vehicle to a preceding vehicle, motion of the straddle-type vehicle, and a driver's instruction, at least one of braking force distribution, which is distribution of braking forces generated on wheels of the straddle-type vehicle to the front and rear wheels, and drive power distribution, which is distribution of drive power transmitted to the wheels of the straddle-type vehicle to the front and rear wheels, is controlled on the basis of lateral acceleration of the straddle-type vehicle.

The invention claimed is: 
     
       1. A controller ( 60 ) that controls travel of a straddle-type vehicle ( 100 ), the controller comprising:
 a control section ( 62 ) capable of executing adaptive cruise control in which the straddle-type vehicle ( 100 ) is made to travel according to a distance from said straddle-type vehicle ( 100 ) to a preceding vehicle, motion of said straddle-type vehicle ( 100 ), and a driver's instruction, wherein 
 during the adaptive cruise control, the control section ( 62 ) controls, using a lean angle and a lateral acceleration of the straddle-type vehicle ( 100 ) and at least one of a first reference angle and a second reference angle, braking force distribution, which is distribution of braking forces generated a front wheel ( 3 ) and a rear wheel ( 4 ) of the straddle-type vehicle ( 100 ), 
 wherein in the case where the lean angle of the straddle-type vehicle ( 100 ) is smaller than the first reference angle, the control section ( 62 ) determines the straddle-type vehicle ( 100 ) is passing an entry of a curved road and executes a first braking mode in which the braking force distribution is controlled such that the lateral acceleration becomes such acceleration that increases the lean angle of the straddle-type vehicle ( 100 ), and 
 wherein in the case where the lean angle of the straddle-type vehicle ( 100 ) is equal to or larger than the first reference angle, the control section ( 62 ) determines the straddle-type vehicle ( 100 ) is passing the entry of the curved road and executes a second braking mode in which the braking force distribution is controlled such that the lateral acceleration is maintained. 
 
     
     
       2. The controller according to  claim 1 , wherein in the case where the lean angle of the straddle-type vehicle ( 100 ) is equal to or larger than the second reference angle, the control section ( 62 ) executes a first drive mode in which the drive power distribution is controlled such that the lateral acceleration is maintained. 
     
     
       3. The controller according to  claim 2 , wherein the first drive mode is executed when the straddle-type vehicle ( 100 ) is traveling on a curved road. 
     
     
       4. The controller according to  claim 2 , wherein in the case where the lean angle of the straddle-type vehicle ( 100 ) is smaller than the second reference angle, the control section ( 62 ) executes a second drive mode in which the drive power distribution is controlled such that the lateral acceleration becomes such acceleration that reduces the lean angle of the straddle-type vehicle ( 100 ). 
     
     
       5. The controller according to  claim 4 , wherein the second drive mode is executed when the straddle-type vehicle ( 100 ) is passing an exit of a curved road. 
     
     
       6. The controller according to  claim 1 , wherein in the case where the lean angle of the straddle-type vehicle ( 100 ) is smaller than the second reference angle, the control section ( 62 ) executes a second drive mode in which the drive power distribution is controlled such that the lateral acceleration becomes such acceleration that reduces the lean angle of the straddle-type vehicle ( 100 ). 
     
     
       7. The controller according to  claim 1 , wherein a braking mode for the braking force distribution of the straddle-type vehicle ( 100 ) is controlled based on the first reference angle, and wherein a drive mode for the drive power distribution of the straddle-type vehicle ( 100 ) is controlled based on the second reference angle. 
     
     
       8. A control method for controlling travel of a straddle-type vehicle ( 100 ), the control method comprising:
 controlling, using a lean angle and a lateral acceleration of the straddle-type vehicle ( 100 ) and at least one of a first reference angle and a second reference angle, braking force distribution, which is distribution of braking forces generated on a front wheel ( 3 ) and a rear wheel ( 4 ) of the straddle-type vehicle ( 100 ), by a controller ( 60 ) during adaptive cruise control in which the straddle-type vehicle ( 100 ) is made to travel according to a distance from said straddle-type vehicle ( 100 ) to a preceding vehicle, motion of said straddle-type vehicle ( 100 ), and a driver's instruction, 
 wherein the controller ( 60 ), in the case where the lean angle of the straddle-type vehicle ( 100 ) is smaller than a first reference angle, determines that the straddle-type vehicle ( 100 ) is passing an entry of a curved road, and executes a first braking mode in which the braking force distribution is controlled such that the lateral acceleration becomes such acceleration that increases the lean angle of the straddle-type vehicle ( 100 ); and 
 wherein the controller ( 60 ), in the case where the lean angle of the straddle-type vehicle ( 100 ) is equal to or larger than the first reference angle, determines that the straddle-type vehicle ( 100 ) is traveling on the curved road, and executes a second braking mode in which the braking force distribution is controlled such that the lateral acceleration is maintained.